HolonomicConstraint: represents a group of holonomic constraints of a dynamical systems. More...

Inheritance diagram for HolonomicConstraint:

Public Member Functions
	HolonomicConstraint (DynamicalSystem model, h,SymExpression name, varargin)
	The class constructor function. More...

function obj =	configure (load_path)
	configure the derivatives and Jacobian of the actual/desired outputs functions More...

function nlp =	imposeNLPConstraint (nlp)
	impose holonomic objaints as NLP objaints in the trajectory optimization problem `nlp` of the dynamical system More...

function [ Jh , dJh ] =	calcJacobian (x, dx)
	calculate the holonomic constraints, Jacobian and its time derivatives More...

function h =	calcConstraint (colvec x)
	calculate the holonomic constraints More...

function	saveExpression (export_path, varargin)
	export the symbolic expressions of the constraints matrices to MX binary files More...

function	export (char export_path,varargin varargin)
	export the symbolic expressions of the constraints matrices and vectors and compile as MEX files. More...

function obj =	setJacobian (SymExpression jac)
	Jacobian matrix sets the Jacobian matrix of the holonomic constraints if it is provided directly by the users. More...

function obj =	setDerivativeOrder (integer degree)
	RelativeDegree sets the highest derivative order of holonomic constraints in order to enforce as bilateral constraints of the system. More...

function obj =	setConstrLabel (cellstr label)
	OutputLabel sets the naming labels of outputs. More...

function name =	validateName (name)
	Name. More...

Public Attributes
integer	Dimension
	The dimension of the virtual constraints. More...

SymVariable	Param
	The symbolic representation of constant parameter value `hd` that the holonomic constraints associated wtih. More...

SymVariable	Input
	The symbolic representation of the input variables associated with the holonomic constraints. More...

char	Name
	The name of the virtual constraints. More...

char	ConstrLabel
	The label of the holonomic constraint. More...

integer	DerivativeOrder
	The highest order of derivatives to enforce the holonomic constraints. This is the same as the relative degree of a virtual constraint. More...

SymFunction	ConstrExpr
	The holonomic constraint expression. More...

SymFunction	ConstrJac
	The Jacobian matrix of the holonomic constraitns. More...

SymFunction	ConstrJacDot
	The Jacobian matrix of the holonomic constraitns. More...

char	ParamName
	The name of the parameter variable `hd` associated with the holonomic constraints. More...

char	InputName
	The name othe input variables (external forces, etc.) associated with the holonomic constraints. More...

	h_name

	Jh_name

	dh_name

	dJh_name

	ddh_name

Public Attributes inherited from handle
	addlistener
	Creates a listener for the specified event and assigns a callback function to execute when the event occurs. More...

	notify
	Broadcast a notice that a specific event is occurring on a specified handle object or array of handle objects. More...

	delete
	Handle object destructor method that is called when the object's lifecycle ends. More...

	disp
	Handle object disp method which is called by the display method. See the MATLAB disp function. More...

	display
	Handle object display method called when MATLAB software interprets an expression returning a handle object that is not terminated by a semicolon. See the MATLAB display function. More...

	findobj
	Finds objects matching the specified conditions from the input array of handle objects. More...

	findprop
	Returns a meta.property objects associated with the specified property name. More...

	fields
	Returns a cell array of string containing the names of public properties. More...

	fieldnames
	Returns a cell array of string containing the names of public properties. See the MATLAB fieldnames function. More...

	isvalid
	Returns a logical array in which elements are true if the corresponding elements in the input array are valid handles. This method is Sealed so you cannot override it in a handle subclass. More...

	eq
	Relational functions example. See details for more information. More...

	transpose
	Transposes the elements of the handle object array. More...

	permute
	Rearranges the dimensions of the handle object array. See the MATLAB permute function. More...

	reshape
	hanges the dimensions of the handle object array to the specified dimensions. See the MATLAB reshape function. More...

	sort
	ort the handle objects in any array in ascending or descending order. More...

Protected Attributes
DynamicalSystem	Model
	The dynamical system model. More...

SymFunction	h_
	The holonomic constraint expression. More...

SymFunction	Jh_
	The Jacobian matrix of the holonomic constraint expression. More...

SymFunction	dh_
	The first order derivative of the holonomic constraint expression The first order derivative of the Jacobian matrix of the holonomic constraint expression. More...

	dJh_

SymFunction	ddh_
	The second order derivatives of the holonomic constraints expression. More...

Detailed Description

HolonomicConstraint: represents a group of holonomic constraints of a dynamical systems.

A holonomic constraint is defined as a function of state variables that equals to constants, i.e., h(x) == hd

Author: ayonga

Date: 2017-04-20

Redistribution and use in source and binary forms, with or without modification, are permitted only in compliance with the BSD 3-Clause license, see http://www.opensource.org/licenses/bsd-license.php

Constructor & Destructor Documentation

◆ HolonomicConstraint()

HolonomicConstraint.HolonomicConstraint	(	DynamicalSystem	model,
			h,
		SymExpression	name,
			varargin
	)

inline

The class constructor function.

Parameters

model	the dynamical system model in which the virtual constraints are defined
h	the symbolic expression of the constraints
name	the name of the virtual constraints
varargin	optional parameters. In details HolonomicConstraint ( ..., ConstrLabel, Jacobian, DerivativeOrder ) Required Parameters for varargin: ConstrLabel labels for constraints Jacobian the custom Jacobian matrix DerivativeOrder the degree of holonomic constraints

Required fields of model:

Member Function Documentation

◆ calcConstraint()

function h = HolonomicConstraint.calcConstraint ( colvec x )

calculate the holonomic constraints

Parameters

x	the states
dx	the first order derivatives

Return values

h	the value of the holonomic constraint

◆ calcJacobian()

function [ matrix Jh , matrix dJh ] = HolonomicConstraint.calcJacobian	(	x,
		dx
	)

calculate the holonomic constraints, Jacobian and its time derivatives

Parameters

x	the states
dx	the first order derivatives

Return values

Jh	the first-order Jacobian of the constraint
dJh	the time derivative of the Jacobian matrix

◆ configure()

function obj = HolonomicConstraint.configure ( load_path )

configure the derivatives and Jacobian of the actual/desired outputs functions

Parameters

load_path the path from which symbolic expressions can be loaded

Generated fields of obj:

◆ export()

function HolonomicConstraint.export	(	char	export_path,
		varargin	varargin
	)

inline

export the symbolic expressions of the constraints matrices and vectors and compile as MEX files.

Parameters

export_path	the path to export the file
varargin	variable input parameters export ( ..., Vars, File, ForceExport, BuildMex, Namespace ) Required Parameters for varargin: Vars a list of symbolic variables File the (full) file name of exported file ForceExport force the export BuildMex flag whether to MEX the exported file Namespace the namespace of the function

◆ imposeNLPConstraint()

function TrajectoryOptimization nlp = HolonomicConstraint.imposeNLPConstraint ( nlp )

impose holonomic objaints as NLP objaints in the trajectory optimization problem nlp of the dynamical system

Parameters

nlp	the trajectory optimization NLP

◆ saveExpression()

function obj = HolonomicConstraint.saveExpression	(	export_path,
		varargin
	)

export the symbolic expressions of the constraints matrices to MX binary files

Parameters

export_path	the path to export the file
varargin	variable input parameters saveExpression ( ..., ForceExport ) Required Parameters for varargin: ForceExport force the export

◆ setConstrLabel()

function obj = HolonomicConstraint.setConstrLabel ( cellstr label )

inline

OutputLabel sets the naming labels of outputs.

Parameters

label the cell array of labels

Generated fields of obj:

◆ setDerivativeOrder()

function obj = HolonomicConstraint.setDerivativeOrder ( integer degree )

inline

RelativeDegree sets the highest derivative order of holonomic constraints in order to enforce as bilateral constraints of the system.

Parameters

degree derivative order

Generated fields of obj:

◆ setJacobian()

function obj = HolonomicConstraint.setJacobian ( SymExpression jac )

inline

Jacobian matrix sets the Jacobian matrix of the holonomic constraints if it is provided directly by the users.

Parameters

jac	the jacobian matrix

Generated fields of obj:

◆ validateName()

function name = HolonomicConstraint.validateName ( name )

inline

Name.

Member Data Documentation

◆ ConstrExpr

HolonomicConstraint.ConstrExpr

The holonomic constraint expression.

Note: This property has the MATLAB attribute Dependent set to true.; Matlab documentation of property attributes.; [readonly]

◆ ConstrJac

HolonomicConstraint.ConstrJac

The Jacobian matrix of the holonomic constraitns.

Note: This property has the MATLAB attribute Dependent set to true.; Matlab documentation of property attributes.; [readonly]

◆ ConstrJacDot

HolonomicConstraint.ConstrJacDot

The Jacobian matrix of the holonomic constraitns.

Note: This property has the MATLAB attribute Dependent set to true.; Matlab documentation of property attributes.; [readonly]

◆ ConstrLabel

HolonomicConstraint.ConstrLabel

The label of the holonomic constraint.

Note: This property has non-standard access specifiers: SetAccess = Protected, GetAccess = Public; Matlab documentation of property attributes.

◆ ddh_

HolonomicConstraint.ddh_

protected

The second order derivatives of the holonomic constraints expression.

◆ ddh_name

HolonomicConstraint.ddh_name

Note: [readonly]

◆ DerivativeOrder

HolonomicConstraint.DerivativeOrder

The highest order of derivatives to enforce the holonomic constraints. This is the same as the relative degree of a virtual constraint.

Note: This property has non-standard access specifiers: SetAccess = Protected, GetAccess = Public; Matlab documentation of property attributes.

◆ dh_

HolonomicConstraint.dh_

protected

The first order derivative of the holonomic constraint expression The first order derivative of the Jacobian matrix of the holonomic constraint expression.

◆ dh_name

HolonomicConstraint.dh_name

Note: [readonly]

◆ Dimension

HolonomicConstraint.Dimension

The dimension of the virtual constraints.

Note: This property has non-standard access specifiers: SetAccess = Protected, GetAccess = Public; Matlab documentation of property attributes.

◆ dJh_

HolonomicConstraint.dJh_

protected

◆ dJh_name

HolonomicConstraint.dJh_name

Note: [readonly]

◆ h_

HolonomicConstraint.h_

protected

The holonomic constraint expression.

◆ h_name

HolonomicConstraint.h_name

Note: [readonly]

◆ Input

HolonomicConstraint.Input

The symbolic representation of the input variables associated with the holonomic constraints.

Note: This property has non-standard access specifiers: SetAccess = Protected, GetAccess = Public; Matlab documentation of property attributes.

◆ InputName

HolonomicConstraint.InputName

The name othe input variables (external forces, etc.) associated with the holonomic constraints.

Note: This property has the MATLAB attribute Dependent set to true.; Matlab documentation of property attributes.; [readonly]

◆ Jh_

HolonomicConstraint.Jh_

protected

The Jacobian matrix of the holonomic constraint expression.

◆ Jh_name

HolonomicConstraint.Jh_name

Note: [readonly]

◆ Model

HolonomicConstraint.Model

protected

The dynamical system model.

◆ Name

HolonomicConstraint.Name

The name of the virtual constraints.

Note: This property has non-standard access specifiers: SetAccess = Protected, GetAccess = Public; Matlab documentation of property attributes.

◆ Param

HolonomicConstraint.Param

The symbolic representation of constant parameter value hd that the holonomic constraints associated wtih.

Note: This property has non-standard access specifiers: SetAccess = Protected, GetAccess = Public; Matlab documentation of property attributes.

◆ ParamName

HolonomicConstraint.ParamName

The name of the parameter variable hd associated with the holonomic constraints.

Note: This property has the MATLAB attribute Dependent set to true.; Matlab documentation of property attributes.; [readonly]

The documentation for this class was generated from the following files:

/home/ayonga/.dropboxes/business/Dropbox/research/dzopt/frost/matlab/system/@HolonomicConstraint/HolonomicConstraint.m
/home/ayonga/.dropboxes/business/Dropbox/research/dzopt/frost/matlab/system/@HolonomicConstraint/calcConstraint.m
/home/ayonga/.dropboxes/business/Dropbox/research/dzopt/frost/matlab/system/@HolonomicConstraint/calcJacobian.m
/home/ayonga/.dropboxes/business/Dropbox/research/dzopt/frost/matlab/system/@HolonomicConstraint/configure.m
/home/ayonga/.dropboxes/business/Dropbox/research/dzopt/frost/matlab/system/@HolonomicConstraint/imposeNLPConstraint.m
/home/ayonga/.dropboxes/business/Dropbox/research/dzopt/frost/matlab/system/@HolonomicConstraint/saveExpression.m

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ HolonomicConstraint()

Member Function Documentation

◆ calcConstraint()

◆ calcJacobian()

◆ configure()

◆ export()

◆ imposeNLPConstraint()

◆ saveExpression()

◆ setConstrLabel()

◆ setDerivativeOrder()

◆ setJacobian()

◆ validateName()

Member Data Documentation

◆ ConstrExpr

◆ ConstrJac

◆ ConstrJacDot

◆ ConstrLabel

◆ ddh_

◆ ddh_name

◆ DerivativeOrder

◆ dh_

◆ dh_name

◆ Dimension

◆ dJh_

◆ dJh_name

◆ h_

◆ h_name

◆ Input

◆ InputName

◆ Jh_

◆ Jh_name

◆ Model

◆ Name

◆ Param

◆ ParamName